Omron R88D-KN series

Appendicies
A-90
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
606C hex 00 hex
Velocity actual value
0

2147483647
to
2147483647
Command
units/s
4 bytes
(INT32)
RO TxPDO 
6071 hex 00 hex
Target torque
0
5000 to
5000
0.1%
2 bytes
(INT16)
ARxPDO 
6072 hex 00 hex
Max torque
5000 0 to 5000 0.1%
2 bytes
(U16)
ARxPDO 
6074 hex 00 hex
Torque demand
0
5000 to
5000
0.1%
2 bytes
(INT16)
RO TxPDO 
6077 hex 00 hex
Torque actual value
0
5000 to
5000
0.1%
2 bytes
(INT16)
RO TxPDO 
607A hex 00 hex
Target position
0

2147483648
to
2147483647
Command
units
4 bytes
(INT32)
ARxPDO 
607C hex 00 hex
Home offset
0

1073741823
to
1073741823
Command
units
4 bytes
(INT32)
C
Not
possible.
Pn742
607D hex
Software position limit 
00 hex
Number of entries
02 hex 
1 byte
(U8)
RO
Not
possible.

01 hex
Min position limit
500000

1073741823
to
1073741823
Command
units
4 bytes
(INT32)
A
Not
possible.
Pn743
02 hex
Max position limit
500000

1073741823
to
1073741823
Command
units
4 bytes
(INT32)
A
Not
possible.
Pn744
607F hex 00 hex
Max profile velocity
0
0 to
2147483647
Command
units/s
4 bytes
(U32)
ARxPDO 
6081 hex 00 hex
Profile velocity
0
0 to
2147483647
Command
units/s
4 bytes
(U32)
ARxPDO 
6083 hex 00 hex
Profile acceleration
1000000
1 to
655350000
Command
units/s
2
4 bytes
(U32)
B
Not
possible.
Pn745
6084 hex 00 hex
Profile deceleration
1000000
1 to
655350000
Command
units/s
2
4 bytes
(U32)
B
Not
possible.
Pn746
6086 hex 00 hex
Motion profile type
0 1 to 0 
2 bytes
(INT16)
BRxPDO 
6091 hex
Gear ratio 
00 hex
Number of entries
02 hex 
1 byte
(U8)
RO
Not
possible.

01 hex
Motor revolutions
1
1 to
1073741824

4 bytes
(U32)
C
Not
possible.
Pn748
02 hex
Shaft revolutions
1
1 to
1073741824

4 bytes
(U32)
C
Not
possible.
Pn749
6098 hex 00 hex
Homing method
0
128 to
127

1 byte
(INT8)
B
Not
possible.
Pn750
6099 hex
Homing speeds 
00 hex
Number of entries
02 hex 
1 byte
(U8)
RO
Not
possible.

01 hex
Speed during search for switch
5000
100 to
3276700
Command
units/s
4 bytes
(U32)
B
Not
possible.
Pn751
02 hex
Speed during search for zero
5000
100 to
3276700
Command
units/s
4 bytes
(U32)
B
Not
possible.
Pn752
Index
Sub-
Index
Name Default setting
Setting
range
Unit Size
Data
attribute
PDO map
Corresponding
Pn number